RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches - Gu, Jiayuan; Kirmani, Sean; Wohlhart, Paul; Lu, Yao; Gonzalez Arenas, Montserrat; Rao, Kanishka; Yu, Wenhao; Fu, Chuyuan; Gopalakrishnan, Keerthana; Xu, Zhuo; Sundaresan, Priya; Xu, Peng; et al. (International Conference on Learning Representations, 2024)